Hugging Face's logo

Linslab
/
ManiLadder_PI05_Models

Model card Files
xet
 Community
Linslab commited on
Commit
b98dac5
·
verified ·
1 Parent(s): 74e38bc

Add level2_deformable multi-task PI0.5 LoRA (12 level-2 tasks, 50k steps, mean success 0.167)

Browse files
Files changed (20) hide show
  1. multi_task/level2_deformable/eval_reports/ClothWipe-v1.json +166 -0
  2. multi_task/level2_deformable/eval_reports/DualArmClothAlign-v1.json +166 -0
  3. multi_task/level2_deformable/eval_reports/DualArmPlaceRopeOverRod-v1.json +166 -0
  4. multi_task/level2_deformable/eval_reports/DualArmPouringTwoCups-v1.json +166 -0
  5. multi_task/level2_deformable/eval_reports/DualArmPushObject-v1.json +166 -0
  6. multi_task/level2_deformable/eval_reports/DualArmStraightenRope-v1.json +166 -0
  7. multi_task/level2_deformable/eval_reports/DualArmStuffCloth-v1.json +166 -0
  8. multi_task/level2_deformable/eval_reports/FoldShirt-v1.json +166 -0
  9. multi_task/level2_deformable/eval_reports/RollingPin-v1.json +166 -0
  10. multi_task/level2_deformable/eval_reports/RopeBridgeDex-v1.json +166 -0
  11. multi_task/level2_deformable/eval_reports/ScoopWater-v1.json +166 -0
  12. multi_task/level2_deformable/eval_reports/StraightenTwoRopesSequential-v1.json +166 -0
  13. multi_task/level2_deformable/eval_result.json +87 -0
  14. multi_task/level2_deformable/lora_step_0010000.npz +3 -0
  15. multi_task/level2_deformable/lora_step_0020000.npz +3 -0
  16. multi_task/level2_deformable/lora_step_0030000.npz +3 -0
  17. multi_task/level2_deformable/lora_step_0040000.npz +3 -0
  18. multi_task/level2_deformable/lora_step_0050000.npz +3 -0
  19. multi_task/level2_deformable/metadata.json +231 -0
  20. multi_task/level2_deformable/norm_stats.json +376 -0
multi_task/level2_deformable/eval_reports/ClothWipe-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "ClothWipe-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 12,
7
+ "success_rate": 0.24,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 1.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 1.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 1.0,
32
+ 0.0,
33
+ 1.0,
34
+ 1.0,
35
+ 1.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 1.0,
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 1.0,
51
+ 0.0,
52
+ 1.0,
53
+ 1.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 421.012,
62
+ 455.776,
63
+ 356.841,
64
+ 555.346,
65
+ 354.523,
66
+ 388.413,
67
+ 429.734,
68
+ 424.585,
69
+ 394.155,
70
+ 262.656,
71
+ 383.223,
72
+ 340.339,
73
+ 505.968,
74
+ 393.393,
75
+ 396.46,
76
+ 376.96,
77
+ 404.48,
78
+ 387.69,
79
+ 253.407,
80
+ 467.262,
81
+ 431.082,
82
+ 417.001,
83
+ 383.27,
84
+ 386.491,
85
+ 309.355,
86
+ 234.775,
87
+ 389.341,
88
+ 351.465,
89
+ 423.065,
90
+ 405.406,
91
+ 351.689,
92
+ 348.282,
93
+ 346.792,
94
+ 358.307,
95
+ 430.018,
96
+ 290.245,
97
+ 234.02,
98
+ 268.549,
99
+ 555.759,
100
+ 421.647,
101
+ 345.249,
102
+ 213.814,
103
+ 488.153,
104
+ 240.276,
105
+ 303.845,
106
+ 527.081,
107
+ 357.866,
108
+ 447.517,
109
+ 389.693,
110
+ 405.226
111
+ ],
112
+ "episode_steps": [
113
+ 500,
114
+ 500,
115
+ 500,
116
+ 500,
117
+ 500,
118
+ 500,
119
+ 500,
120
+ 500,
121
+ 500,
122
+ 328,
123
+ 500,
124
+ 500,
125
+ 500,
126
+ 500,
127
+ 500,
128
+ 500,
129
+ 500,
130
+ 500,
131
+ 322,
132
+ 500,
133
+ 500,
134
+ 500,
135
+ 493,
136
+ 500,
137
+ 383,
138
+ 359,
139
+ 454,
140
+ 500,
141
+ 500,
142
+ 500,
143
+ 500,
144
+ 500,
145
+ 500,
146
+ 500,
147
+ 500,
148
+ 416,
149
+ 355,
150
+ 377,
151
+ 500,
152
+ 500,
153
+ 500,
154
+ 362,
155
+ 500,
156
+ 358,
157
+ 399,
158
+ 500,
159
+ 500,
160
+ 500,
161
+ 500,
162
+ 500
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmClothAlign-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmClothAlign-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 15,
7
+ "success_rate": 0.3,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 1.0,
13
+ 0.0,
14
+ 1.0,
15
+ 0.0,
16
+ 1.0,
17
+ 0.0,
18
+ 1.0,
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 1.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 1.0,
30
+ 0.0,
31
+ 1.0,
32
+ 0.0,
33
+ 0.0,
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 1.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 1.0,
48
+ 0.0,
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 1.0,
54
+ 0.0,
55
+ 1.0,
56
+ 0.0,
57
+ 0.0,
58
+ 1.0
59
+ ],
60
+ "episode_return": [
61
+ 45.377,
62
+ 55.79,
63
+ 41.969,
64
+ 3.435,
65
+ 42.371,
66
+ 2.933,
67
+ 16.723,
68
+ 3.735,
69
+ 52.468,
70
+ 5.982,
71
+ 11.344,
72
+ 10.304,
73
+ 52.673,
74
+ 0.0,
75
+ 3.6,
76
+ 44.943,
77
+ 36.109,
78
+ 38.699,
79
+ 47.826,
80
+ 0.0,
81
+ 2.805,
82
+ 18.703,
83
+ 2.81,
84
+ 45.649,
85
+ 52.72,
86
+ 5.19,
87
+ 47.568,
88
+ 39.72,
89
+ 24.678,
90
+ 51.895,
91
+ 28.945,
92
+ 55.272,
93
+ 15.494,
94
+ 39.067,
95
+ 1.854,
96
+ 66.696,
97
+ 0.67,
98
+ 46.056,
99
+ 2.868,
100
+ 49.042,
101
+ 2.823,
102
+ 38.983,
103
+ 43.116,
104
+ 56.526,
105
+ 2.832,
106
+ 0.0,
107
+ 2.831,
108
+ 76.098,
109
+ 42.401,
110
+ 2.9
111
+ ],
112
+ "episode_steps": [
113
+ 200,
114
+ 200,
115
+ 200,
116
+ 171,
117
+ 200,
118
+ 137,
119
+ 200,
120
+ 132,
121
+ 200,
122
+ 133,
123
+ 134,
124
+ 200,
125
+ 200,
126
+ 200,
127
+ 129,
128
+ 200,
129
+ 200,
130
+ 200,
131
+ 200,
132
+ 200,
133
+ 130,
134
+ 200,
135
+ 137,
136
+ 200,
137
+ 200,
138
+ 145,
139
+ 200,
140
+ 200,
141
+ 200,
142
+ 200,
143
+ 200,
144
+ 200,
145
+ 158,
146
+ 200,
147
+ 200,
148
+ 200,
149
+ 200,
150
+ 200,
151
+ 132,
152
+ 200,
153
+ 137,
154
+ 200,
155
+ 200,
156
+ 200,
157
+ 142,
158
+ 200,
159
+ 186,
160
+ 200,
161
+ 200,
162
+ 185
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmPlaceRopeOverRod-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmPlaceRopeOverRod-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 6,
7
+ "success_rate": 0.12,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 1.0,
40
+ 1.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 1.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 1.0,
56
+ 0.0,
57
+ 1.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 538.199,
62
+ 510.851,
63
+ 136.717,
64
+ 140.229,
65
+ 144.97,
66
+ 506.561,
67
+ 157.823,
68
+ 484.403,
69
+ 531.604,
70
+ 508.58,
71
+ 482.057,
72
+ 495.881,
73
+ 280.766,
74
+ 583.664,
75
+ 134.776,
76
+ 469.7,
77
+ 556.083,
78
+ 141.825,
79
+ 137.267,
80
+ 156.046,
81
+ 519.145,
82
+ 503.747,
83
+ 126.1,
84
+ 337.395,
85
+ 274.954,
86
+ 525.775,
87
+ 261.081,
88
+ 142.745,
89
+ 410.324,
90
+ 201.537,
91
+ 238.751,
92
+ 250.625,
93
+ 499.834,
94
+ 553.806,
95
+ 320.569,
96
+ 133.985,
97
+ 506.701,
98
+ 556.698,
99
+ 142.135,
100
+ 193.837,
101
+ 497.128,
102
+ 226.368,
103
+ 135.879,
104
+ 255.155,
105
+ 144.502,
106
+ 478.282,
107
+ 208.525,
108
+ 136.998,
109
+ 234.921,
110
+ 496.541
111
+ ],
112
+ "episode_steps": [
113
+ 680,
114
+ 680,
115
+ 680,
116
+ 680,
117
+ 680,
118
+ 680,
119
+ 599,
120
+ 680,
121
+ 680,
122
+ 680,
123
+ 680,
124
+ 680,
125
+ 680,
126
+ 680,
127
+ 680,
128
+ 680,
129
+ 680,
130
+ 680,
131
+ 680,
132
+ 680,
133
+ 680,
134
+ 680,
135
+ 680,
136
+ 680,
137
+ 680,
138
+ 680,
139
+ 680,
140
+ 680,
141
+ 680,
142
+ 680,
143
+ 625,
144
+ 651,
145
+ 680,
146
+ 680,
147
+ 680,
148
+ 680,
149
+ 680,
150
+ 680,
151
+ 680,
152
+ 680,
153
+ 680,
154
+ 608,
155
+ 680,
156
+ 680,
157
+ 680,
158
+ 680,
159
+ 591,
160
+ 680,
161
+ 615,
162
+ 680
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmPouringTwoCups-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmPouringTwoCups-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 0,
7
+ "success_rate": 0.0,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 2498.928,
62
+ 2758.055,
63
+ 2834.583,
64
+ 2942.808,
65
+ 1889.051,
66
+ 2953.825,
67
+ 2928.753,
68
+ 2669.061,
69
+ 2892.387,
70
+ 3110.666,
71
+ 3035.745,
72
+ 3043.309,
73
+ 1885.544,
74
+ 2944.309,
75
+ 3048.853,
76
+ 3056.457,
77
+ 2925.182,
78
+ 532.639,
79
+ 2845.23,
80
+ 3026.889,
81
+ 2869.283,
82
+ 3044.73,
83
+ 2516.955,
84
+ 2852.094,
85
+ 3015.848,
86
+ 2184.659,
87
+ 2947.788,
88
+ 3054.636,
89
+ 2878.36,
90
+ 1831.626,
91
+ 2714.845,
92
+ 3051.16,
93
+ 2369.889,
94
+ 2940.06,
95
+ 2869.24,
96
+ 1819.647,
97
+ 2494.22,
98
+ 2705.478,
99
+ 2635.752,
100
+ 1841.404,
101
+ 2575.064,
102
+ 1819.965,
103
+ 2925.386,
104
+ 2489.49,
105
+ 1826.556,
106
+ 2514.621,
107
+ 2741.764,
108
+ 2078.252,
109
+ 2765.934,
110
+ 2306.383
111
+ ],
112
+ "episode_steps": [
113
+ 1000,
114
+ 1000,
115
+ 1000,
116
+ 1000,
117
+ 1000,
118
+ 1000,
119
+ 1000,
120
+ 1000,
121
+ 1000,
122
+ 1000,
123
+ 1000,
124
+ 1000,
125
+ 1000,
126
+ 1000,
127
+ 1000,
128
+ 1000,
129
+ 1000,
130
+ 1000,
131
+ 1000,
132
+ 1000,
133
+ 1000,
134
+ 1000,
135
+ 1000,
136
+ 1000,
137
+ 1000,
138
+ 1000,
139
+ 1000,
140
+ 1000,
141
+ 1000,
142
+ 1000,
143
+ 1000,
144
+ 1000,
145
+ 1000,
146
+ 1000,
147
+ 1000,
148
+ 1000,
149
+ 1000,
150
+ 1000,
151
+ 1000,
152
+ 1000,
153
+ 1000,
154
+ 1000,
155
+ 1000,
156
+ 1000,
157
+ 1000,
158
+ 1000,
159
+ 1000,
160
+ 1000,
161
+ 1000,
162
+ 1000
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmPushObject-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmPushObject-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 0,
7
+ "success_rate": 0.0,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 0.0,
62
+ 0.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 0.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0,
88
+ 0.0,
89
+ 0.0,
90
+ 0.0,
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.0,
103
+ 0.0,
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 0.0
111
+ ],
112
+ "episode_steps": [
113
+ 400,
114
+ 400,
115
+ 400,
116
+ 400,
117
+ 400,
118
+ 400,
119
+ 400,
120
+ 400,
121
+ 400,
122
+ 400,
123
+ 400,
124
+ 400,
125
+ 400,
126
+ 400,
127
+ 400,
128
+ 400,
129
+ 400,
130
+ 400,
131
+ 400,
132
+ 400,
133
+ 400,
134
+ 400,
135
+ 400,
136
+ 400,
137
+ 400,
138
+ 400,
139
+ 400,
140
+ 400,
141
+ 400,
142
+ 400,
143
+ 400,
144
+ 400,
145
+ 400,
146
+ 400,
147
+ 400,
148
+ 400,
149
+ 400,
150
+ 400,
151
+ 400,
152
+ 400,
153
+ 400,
154
+ 400,
155
+ 400,
156
+ 400,
157
+ 400,
158
+ 400,
159
+ 400,
160
+ 400,
161
+ 400,
162
+ 400
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmStraightenRope-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmStraightenRope-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 5,
7
+ "success_rate": 0.1,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 1.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 1.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 1.0,
49
+ 1.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 111.664,
62
+ 98.928,
63
+ 120.332,
64
+ 97.705,
65
+ 83.34,
66
+ 101.668,
67
+ 68.684,
68
+ 107.32,
69
+ 98.809,
70
+ 117.73,
71
+ 134.251,
72
+ 93.049,
73
+ 79.231,
74
+ 46.496,
75
+ 84.207,
76
+ 102.596,
77
+ 81.272,
78
+ 103.389,
79
+ 60.44,
80
+ 111.949,
81
+ 49.369,
82
+ 81.453,
83
+ 26.196,
84
+ 85.763,
85
+ 96.605,
86
+ 87.903,
87
+ 97.415,
88
+ 76.556,
89
+ 52.827,
90
+ 76.398,
91
+ 102.964,
92
+ 76.001,
93
+ 108.893,
94
+ 84.928,
95
+ 80.742,
96
+ 44.431,
97
+ 88.499,
98
+ 78.131,
99
+ 89.962,
100
+ 61.935,
101
+ 62.629,
102
+ 73.724,
103
+ 95.214,
104
+ 64.663,
105
+ 76.657,
106
+ 104.731,
107
+ 81.263,
108
+ 91.735,
109
+ 32.68,
110
+ 119.553
111
+ ],
112
+ "episode_steps": [
113
+ 500,
114
+ 500,
115
+ 500,
116
+ 500,
117
+ 500,
118
+ 500,
119
+ 500,
120
+ 500,
121
+ 500,
122
+ 500,
123
+ 500,
124
+ 500,
125
+ 500,
126
+ 500,
127
+ 500,
128
+ 500,
129
+ 500,
130
+ 500,
131
+ 500,
132
+ 446,
133
+ 500,
134
+ 500,
135
+ 500,
136
+ 500,
137
+ 500,
138
+ 500,
139
+ 500,
140
+ 500,
141
+ 500,
142
+ 500,
143
+ 500,
144
+ 500,
145
+ 500,
146
+ 500,
147
+ 500,
148
+ 208,
149
+ 500,
150
+ 500,
151
+ 500,
152
+ 263,
153
+ 261,
154
+ 500,
155
+ 500,
156
+ 271,
157
+ 500,
158
+ 500,
159
+ 500,
160
+ 500,
161
+ 500,
162
+ 500
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/DualArmStuffCloth-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "DualArmStuffCloth-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 14,
7
+ "success_rate": 0.28,
8
+ "episode_success": [
9
+ 0.0,
10
+ 1.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 1.0,
15
+ 1.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 1.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 1.0,
27
+ 1.0,
28
+ 0.0,
29
+ 1.0,
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 1.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0,
53
+ 0.0,
54
+ 1.0,
55
+ 1.0,
56
+ 0.0,
57
+ 0.0,
58
+ 1.0
59
+ ],
60
+ "episode_return": [
61
+ 17.478,
62
+ 6.582,
63
+ 17.862,
64
+ 0.0,
65
+ 3.933,
66
+ 40.255,
67
+ 47.043,
68
+ 2.577,
69
+ 2.159,
70
+ 13.995,
71
+ 28.879,
72
+ 0.0,
73
+ 0.0,
74
+ 26.72,
75
+ 0.0,
76
+ 0.0,
77
+ 1.19,
78
+ 42.85,
79
+ 33.862,
80
+ 3.072,
81
+ 17.064,
82
+ 40.789,
83
+ 85.533,
84
+ 0.0,
85
+ 0.0,
86
+ 37.124,
87
+ 7.115,
88
+ 0.0,
89
+ 0.0,
90
+ 0.0,
91
+ 8.359,
92
+ 0.0,
93
+ 62.714,
94
+ 8.678,
95
+ 46.628,
96
+ 0.0,
97
+ 8.228,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 3.268,
102
+ 0.0,
103
+ 12.262,
104
+ 65.389,
105
+ 0.0,
106
+ 46.244,
107
+ 46.083,
108
+ 0.286,
109
+ 0.0,
110
+ 57.146
111
+ ],
112
+ "episode_steps": [
113
+ 600,
114
+ 499,
115
+ 600,
116
+ 600,
117
+ 600,
118
+ 379,
119
+ 460,
120
+ 600,
121
+ 600,
122
+ 600,
123
+ 600,
124
+ 600,
125
+ 600,
126
+ 457,
127
+ 600,
128
+ 600,
129
+ 600,
130
+ 472,
131
+ 478,
132
+ 600,
133
+ 542,
134
+ 460,
135
+ 600,
136
+ 600,
137
+ 600,
138
+ 432,
139
+ 600,
140
+ 600,
141
+ 600,
142
+ 600,
143
+ 600,
144
+ 600,
145
+ 398,
146
+ 600,
147
+ 600,
148
+ 600,
149
+ 600,
150
+ 600,
151
+ 600,
152
+ 600,
153
+ 600,
154
+ 600,
155
+ 600,
156
+ 421,
157
+ 600,
158
+ 536,
159
+ 498,
160
+ 600,
161
+ 600,
162
+ 462
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/FoldShirt-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "FoldShirt-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 11,
7
+ "success_rate": 0.22,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 1.0,
24
+ 1.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 1.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 1.0,
39
+ 1.0,
40
+ 0.0,
41
+ 0.0,
42
+ 1.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 1.0,
51
+ 0.0,
52
+ 0.0,
53
+ 1.0,
54
+ 1.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 0.0,
62
+ 0.001,
63
+ 147.992,
64
+ 0.193,
65
+ 86.182,
66
+ 116.294,
67
+ 0.005,
68
+ 48.0,
69
+ 0.002,
70
+ -0.0,
71
+ 109.974,
72
+ 218.282,
73
+ -0.0,
74
+ -0.005,
75
+ 84.292,
76
+ 56.295,
77
+ 0.007,
78
+ 0.0,
79
+ 95.977,
80
+ 124.069,
81
+ 344.294,
82
+ 0.002,
83
+ 64.203,
84
+ 127.993,
85
+ 0.06,
86
+ 167.985,
87
+ 0.102,
88
+ 0.143,
89
+ 367.999,
90
+ 102.29,
91
+ 92.289,
92
+ 167.977,
93
+ 0.198,
94
+ 244.29,
95
+ -0.0,
96
+ -0.001,
97
+ 0.0,
98
+ 133.99,
99
+ 67.982,
100
+ 137.991,
101
+ 60.276,
102
+ 96.296,
103
+ 149.986,
104
+ 0.0,
105
+ 32.295,
106
+ 46.296,
107
+ 75.99,
108
+ 155.975,
109
+ 0.0,
110
+ 345.976
111
+ ],
112
+ "episode_steps": [
113
+ 500,
114
+ 500,
115
+ 500,
116
+ 500,
117
+ 500,
118
+ 210,
119
+ 500,
120
+ 500,
121
+ 500,
122
+ 500,
123
+ 500,
124
+ 474,
125
+ 500,
126
+ 500,
127
+ 195,
128
+ 232,
129
+ 500,
130
+ 500,
131
+ 500,
132
+ 500,
133
+ 367,
134
+ 500,
135
+ 500,
136
+ 500,
137
+ 500,
138
+ 500,
139
+ 500,
140
+ 500,
141
+ 500,
142
+ 210,
143
+ 276,
144
+ 500,
145
+ 500,
146
+ 317,
147
+ 500,
148
+ 500,
149
+ 500,
150
+ 500,
151
+ 500,
152
+ 500,
153
+ 500,
154
+ 255,
155
+ 500,
156
+ 500,
157
+ 187,
158
+ 225,
159
+ 500,
160
+ 500,
161
+ 500,
162
+ 500
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/RollingPin-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "RollingPin-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 9,
7
+ "success_rate": 0.18,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 1.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 1.0,
23
+ 1.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 1.0,
40
+ 0.0,
41
+ 1.0,
42
+ 0.0,
43
+ 1.0,
44
+ 0.0,
45
+ 1.0,
46
+ 0.0,
47
+ 0.0,
48
+ 1.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 1.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 315.83,
62
+ 278.093,
63
+ 239.016,
64
+ 266.465,
65
+ 275.036,
66
+ 283.48,
67
+ 261.155,
68
+ 275.79,
69
+ 271.392,
70
+ 281.432,
71
+ 309.928,
72
+ 276.346,
73
+ 259.875,
74
+ 259.096,
75
+ 246.282,
76
+ 265.993,
77
+ 270.865,
78
+ 258.661,
79
+ 262.684,
80
+ 271.516,
81
+ 320.637,
82
+ 279.172,
83
+ 270.047,
84
+ 275.149,
85
+ 269.856,
86
+ 275.601,
87
+ 264.683,
88
+ 278.416,
89
+ 278.298,
90
+ 260.002,
91
+ 227.701,
92
+ 251.588,
93
+ 227.904,
94
+ 274.451,
95
+ 223.995,
96
+ 277.577,
97
+ 244.014,
98
+ 275.156,
99
+ 298.71,
100
+ 257.326,
101
+ 311.048,
102
+ 279.126,
103
+ 276.587,
104
+ 277.965,
105
+ 272.306,
106
+ 276.423,
107
+ 267.38,
108
+ 276.07,
109
+ 279.794,
110
+ 274.616
111
+ ],
112
+ "episode_steps": [
113
+ 300,
114
+ 300,
115
+ 266,
116
+ 300,
117
+ 300,
118
+ 300,
119
+ 300,
120
+ 300,
121
+ 300,
122
+ 300,
123
+ 300,
124
+ 300,
125
+ 300,
126
+ 283,
127
+ 271,
128
+ 300,
129
+ 300,
130
+ 300,
131
+ 300,
132
+ 300,
133
+ 300,
134
+ 300,
135
+ 300,
136
+ 300,
137
+ 300,
138
+ 300,
139
+ 300,
140
+ 300,
141
+ 300,
142
+ 300,
143
+ 256,
144
+ 300,
145
+ 254,
146
+ 300,
147
+ 253,
148
+ 300,
149
+ 272,
150
+ 300,
151
+ 300,
152
+ 282,
153
+ 300,
154
+ 300,
155
+ 300,
156
+ 300,
157
+ 300,
158
+ 300,
159
+ 295,
160
+ 300,
161
+ 300,
162
+ 300
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/RopeBridgeDex-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "RopeBridgeDex-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 11,
7
+ "success_rate": 0.22,
8
+ "episode_success": [
9
+ 1.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 1.0,
18
+ 0.0,
19
+ 0.0,
20
+ 1.0,
21
+ 1.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 1.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 1.0,
33
+ 0.0,
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 1.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 1.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 207.277,
62
+ 367.093,
63
+ 290.771,
64
+ 310.874,
65
+ 540.496,
66
+ 308.974,
67
+ 493.153,
68
+ 332.186,
69
+ 411.689,
70
+ 354.832,
71
+ 509.78,
72
+ 160.878,
73
+ 170.127,
74
+ 570.839,
75
+ 291.539,
76
+ 322.327,
77
+ 323.955,
78
+ 192.104,
79
+ 307.495,
80
+ 172.394,
81
+ 319.769,
82
+ 375.168,
83
+ 362.722,
84
+ 245.359,
85
+ 401.686,
86
+ 159.802,
87
+ 293.303,
88
+ 326.61,
89
+ 444.445,
90
+ 546.065,
91
+ 315.811,
92
+ 322.812,
93
+ 482.284,
94
+ 301.111,
95
+ 484.476,
96
+ 311.325,
97
+ 182.504,
98
+ 374.434,
99
+ 385.767,
100
+ 348.314,
101
+ 328.29,
102
+ 398.129,
103
+ 405.999,
104
+ 445.851,
105
+ 484.726,
106
+ 335.02,
107
+ 320.629,
108
+ 178.86,
109
+ 378.63,
110
+ 310.675
111
+ ],
112
+ "episode_steps": [
113
+ 363,
114
+ 800,
115
+ 800,
116
+ 800,
117
+ 800,
118
+ 800,
119
+ 800,
120
+ 800,
121
+ 585,
122
+ 800,
123
+ 800,
124
+ 301,
125
+ 330,
126
+ 800,
127
+ 800,
128
+ 800,
129
+ 800,
130
+ 359,
131
+ 800,
132
+ 322,
133
+ 800,
134
+ 800,
135
+ 800,
136
+ 443,
137
+ 800,
138
+ 310,
139
+ 800,
140
+ 800,
141
+ 620,
142
+ 800,
143
+ 800,
144
+ 800,
145
+ 800,
146
+ 800,
147
+ 800,
148
+ 800,
149
+ 310,
150
+ 800,
151
+ 800,
152
+ 800,
153
+ 800,
154
+ 800,
155
+ 800,
156
+ 800,
157
+ 800,
158
+ 800,
159
+ 800,
160
+ 326,
161
+ 800,
162
+ 800
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/ScoopWater-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "ScoopWater-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 13,
7
+ "success_rate": 0.26,
8
+ "episode_success": [
9
+ 1.0,
10
+ 0.0,
11
+ 1.0,
12
+ 0.0,
13
+ 0.0,
14
+ 1.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 1.0,
19
+ 1.0,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 1.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 1.0,
30
+ 1.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 1.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 1.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 1.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 13.399,
62
+ 0.0,
63
+ 15.702,
64
+ -25.592,
65
+ -103.353,
66
+ 11.249,
67
+ 0.0,
68
+ 0.0,
69
+ -206.407,
70
+ 14.587,
71
+ 9.189,
72
+ 9.934,
73
+ -102.933,
74
+ -123.059,
75
+ 0.0,
76
+ -147.451,
77
+ 16.904,
78
+ -88.64,
79
+ 104.683,
80
+ -261.417,
81
+ 3.939,
82
+ 3.403,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ -86.859,
87
+ 0.0,
88
+ 8.778,
89
+ -13.33,
90
+ -178.639,
91
+ 72.343,
92
+ -99.922,
93
+ 0.0,
94
+ 9.875,
95
+ -17.733,
96
+ -303.0,
97
+ -1.0,
98
+ 12.43,
99
+ 0.0,
100
+ 36.853,
101
+ 0.0,
102
+ 0.0,
103
+ -187.098,
104
+ -129.676,
105
+ -152.751,
106
+ -98.94,
107
+ 9.218,
108
+ 0.0,
109
+ 0.0,
110
+ -188.467
111
+ ],
112
+ "episode_steps": [
113
+ 339,
114
+ 600,
115
+ 326,
116
+ 600,
117
+ 600,
118
+ 339,
119
+ 600,
120
+ 600,
121
+ 600,
122
+ 387,
123
+ 387,
124
+ 325,
125
+ 600,
126
+ 600,
127
+ 600,
128
+ 600,
129
+ 367,
130
+ 600,
131
+ 600,
132
+ 600,
133
+ 365,
134
+ 338,
135
+ 600,
136
+ 600,
137
+ 600,
138
+ 600,
139
+ 600,
140
+ 354,
141
+ 600,
142
+ 600,
143
+ 600,
144
+ 600,
145
+ 600,
146
+ 382,
147
+ 600,
148
+ 600,
149
+ 600,
150
+ 444,
151
+ 600,
152
+ 600,
153
+ 600,
154
+ 600,
155
+ 600,
156
+ 600,
157
+ 600,
158
+ 600,
159
+ 344,
160
+ 600,
161
+ 600,
162
+ 600
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_reports/StraightenTwoRopesSequential-v1.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task": "StraightenTwoRopesSequential-v1",
3
+ "suite": "level2_deformable",
4
+ "step": 50000,
5
+ "episodes": 50,
6
+ "successes": 4,
7
+ "success_rate": 0.08,
8
+ "episode_success": [
9
+ 0.0,
10
+ 0.0,
11
+ 1.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 1.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0
59
+ ],
60
+ "episode_return": [
61
+ 2071.766,
62
+ 1972.811,
63
+ 1390.365,
64
+ 2548.366,
65
+ 2125.199,
66
+ 2212.288,
67
+ 2094.895,
68
+ 2234.728,
69
+ 2558.864,
70
+ 2082.162,
71
+ 2148.845,
72
+ 566.842,
73
+ 2046.443,
74
+ 2121.937,
75
+ 2305.906,
76
+ 2578.174,
77
+ 1998.786,
78
+ 2064.647,
79
+ 2492.47,
80
+ 2400.437,
81
+ 2349.588,
82
+ 2412.604,
83
+ 2096.111,
84
+ 2142.86,
85
+ 2054.235,
86
+ 2260.063,
87
+ 2253.199,
88
+ 2281.557,
89
+ 2110.007,
90
+ 2635.145,
91
+ 2112.404,
92
+ 1987.465,
93
+ 2402.476,
94
+ 2633.439,
95
+ 2276.677,
96
+ 2400.418,
97
+ 2071.111,
98
+ 2368.946,
99
+ 2430.837,
100
+ 519.392,
101
+ 2273.429,
102
+ 2051.146,
103
+ 1542.659,
104
+ 2236.57,
105
+ 2429.763,
106
+ 2054.558,
107
+ 2025.188,
108
+ 2087.165,
109
+ 2101.326,
110
+ 1994.263
111
+ ],
112
+ "episode_steps": [
113
+ 1200,
114
+ 1200,
115
+ 674,
116
+ 1200,
117
+ 1200,
118
+ 1200,
119
+ 1200,
120
+ 1200,
121
+ 1200,
122
+ 1200,
123
+ 1200,
124
+ 291,
125
+ 1200,
126
+ 1200,
127
+ 1200,
128
+ 1200,
129
+ 1200,
130
+ 1200,
131
+ 1200,
132
+ 1200,
133
+ 1200,
134
+ 1200,
135
+ 1200,
136
+ 1200,
137
+ 1200,
138
+ 1200,
139
+ 1200,
140
+ 1200,
141
+ 1200,
142
+ 1200,
143
+ 1200,
144
+ 1200,
145
+ 1200,
146
+ 1200,
147
+ 1200,
148
+ 1200,
149
+ 1200,
150
+ 1200,
151
+ 1200,
152
+ 271,
153
+ 1200,
154
+ 1200,
155
+ 716,
156
+ 1200,
157
+ 1200,
158
+ 1200,
159
+ 1200,
160
+ 1200,
161
+ 1200,
162
+ 1200
163
+ ],
164
+ "episode_seed_base": 1000,
165
+ "episode_seeds": "1000-1049"
166
+ }
multi_task/level2_deformable/eval_result.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "suite": "level2_deformable",
3
+ "suite_id": "l2deform",
4
+ "description": "all level-2 deformable-object tasks",
5
+ "level": "level_2",
6
+ "step": 50000,
7
+ "campaign": "pi05_lv2sub_20261029",
8
+ "tasks": 12,
9
+ "mean_success_rate": 0.16666666666666666,
10
+ "episodes_per_task": 50,
11
+ "episode_seeds": "1000-1049",
12
+ "per_task": [
13
+ {
14
+ "task": "FoldShirt-v1",
15
+ "success_rate": 0.22,
16
+ "successes": 11,
17
+ "return_mean": 81.40873999999998
18
+ },
19
+ {
20
+ "task": "ScoopWater-v1",
21
+ "success_rate": 0.26,
22
+ "successes": 13,
23
+ "return_mean": -43.27561999999999
24
+ },
25
+ {
26
+ "task": "StraightenTwoRopesSequential-v1",
27
+ "success_rate": 0.08,
28
+ "successes": 4,
29
+ "return_mean": 2132.2106400000002
30
+ },
31
+ {
32
+ "task": "ClothWipe-v1",
33
+ "success_rate": 0.24,
34
+ "successes": 12,
35
+ "return_mean": 380.15003999999993
36
+ },
37
+ {
38
+ "task": "RollingPin-v1",
39
+ "success_rate": 0.18,
40
+ "successes": 9,
41
+ "return_mean": 271.01066
42
+ },
43
+ {
44
+ "task": "RopeBridgeDex-v1",
45
+ "success_rate": 0.22,
46
+ "successes": 11,
47
+ "return_mean": 344.1871800000001
48
+ },
49
+ {
50
+ "task": "DualArmClothAlign-v1",
51
+ "success_rate": 0.3,
52
+ "successes": 15,
53
+ "return_mean": 27.649860000000004
54
+ },
55
+ {
56
+ "task": "DualArmPushObject-v1",
57
+ "success_rate": 0.0,
58
+ "successes": 0,
59
+ "return_mean": 0.0
60
+ },
61
+ {
62
+ "task": "DualArmStraightenRope-v1",
63
+ "success_rate": 0.1,
64
+ "successes": 5,
65
+ "return_mean": 85.05759999999998
66
+ },
67
+ {
68
+ "task": "DualArmPlaceRopeOverRod-v1",
69
+ "success_rate": 0.12,
70
+ "successes": 6,
71
+ "return_mean": 332.2409
72
+ },
73
+ {
74
+ "task": "DualArmStuffCloth-v1",
75
+ "success_rate": 0.28,
76
+ "successes": 14,
77
+ "return_mean": 16.82734
78
+ },
79
+ {
80
+ "task": "DualArmPouringTwoCups-v1",
81
+ "success_rate": 0.0,
82
+ "successes": 0,
83
+ "return_mean": 2610.06726
84
+ }
85
+ ],
86
+ "note": "Only the final checkpoint (step 50000) was evaluated; 50 episodes per task, the same seeds for every task and suite."
87
+ }
multi_task/level2_deformable/lora_step_0010000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f4f2ad7fa8bbd5d9b87b6f92e9b6942cb85188db7e206d8a8491427202a801e
3
+ size 1867943218
multi_task/level2_deformable/lora_step_0020000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:643a9d62a903df5c475a5d98106fb6188b987ca6c266b6f0141917ae644c1b61
3
+ size 1867943218
multi_task/level2_deformable/lora_step_0030000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9482effa13531a0688c322c8ee1e600273d071e1a11404ba97ac15cd6ef7610d
3
+ size 1867943218
multi_task/level2_deformable/lora_step_0040000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e858494f3a25506d662a3fb6dfe3707b60f160336a01d97388f24aee8ebe6c06
3
+ size 1867943218
multi_task/level2_deformable/lora_step_0050000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9413b1b39eeb1064efbb440c0c32fd51622a2d49d94b1f07f9b924b0f4933c3
3
+ size 1867943218
multi_task/level2_deformable/metadata.json ADDED
@@ -0,0 +1,231 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "suite": "level2_deformable",
3
+ "suite_id": "l2deform",
4
+ "description": "all level-2 deformable-object tasks",
5
+ "campaign": "pi05_lv2sub_20261029",
6
+ "tasks": [
7
+ "FoldShirt-v1",
8
+ "ScoopWater-v1",
9
+ "StraightenTwoRopesSequential-v1",
10
+ "ClothWipe-v1",
11
+ "RollingPin-v1",
12
+ "RopeBridgeDex-v1",
13
+ "DualArmClothAlign-v1",
14
+ "DualArmPushObject-v1",
15
+ "DualArmStraightenRope-v1",
16
+ "DualArmPlaceRopeOverRod-v1",
17
+ "DualArmStuffCloth-v1",
18
+ "DualArmPouringTwoCups-v1"
19
+ ],
20
+ "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for all tasks in the suite)",
21
+ "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
22
+ "checkpoints": [
23
+ {
24
+ "file": "lora_step_0010000.npz",
25
+ "step": 10000,
26
+ "sha256": "1f4f2ad7fa8bbd5d9b87b6f92e9b6942cb85188db7e206d8a8491427202a801e",
27
+ "bytes": 1867943218,
28
+ "evaluated": false
29
+ },
30
+ {
31
+ "file": "lora_step_0020000.npz",
32
+ "step": 20000,
33
+ "sha256": "643a9d62a903df5c475a5d98106fb6188b987ca6c266b6f0141917ae644c1b61",
34
+ "bytes": 1867943218,
35
+ "evaluated": false
36
+ },
37
+ {
38
+ "file": "lora_step_0030000.npz",
39
+ "step": 30000,
40
+ "sha256": "9482effa13531a0688c322c8ee1e600273d071e1a11404ba97ac15cd6ef7610d",
41
+ "bytes": 1867943218,
42
+ "evaluated": false
43
+ },
44
+ {
45
+ "file": "lora_step_0040000.npz",
46
+ "step": 40000,
47
+ "sha256": "e858494f3a25506d662a3fb6dfe3707b60f160336a01d97388f24aee8ebe6c06",
48
+ "bytes": 1867943218,
49
+ "evaluated": false
50
+ },
51
+ {
52
+ "file": "lora_step_0050000.npz",
53
+ "step": 50000,
54
+ "sha256": "e9413b1b39eeb1064efbb440c0c32fd51622a2d49d94b1f07f9b924b0f4933c3",
55
+ "bytes": 1867943218,
56
+ "evaluated": true
57
+ }
58
+ ],
59
+ "evaluated_checkpoint": "lora_step_0050000.npz",
60
+ "tensor_count": 51,
61
+ "action_dim": 44,
62
+ "state_dim": 44,
63
+ "action_dim_note": "44 = union of all level-2 embodiments (dual-arm dexterous); narrower embodiments are zero-padded, as in the level-2 dataset",
64
+ "action_horizon": 50,
65
+ "max_token_len": 200,
66
+ "image_size": 224,
67
+ "exec_steps": 16,
68
+ "sample_steps": 10,
69
+ "control_mode": "pd_ee_delta_pose",
70
+ "state_input": "zero vector",
71
+ "cameras": [
72
+ "front_camera",
73
+ "robot_camera",
74
+ "robot_camera_0",
75
+ "robot_camera_1"
76
+ ],
77
+ "missing_right_wrist_image": "zeros",
78
+ "num_demos_per_task": 20,
79
+ "train_episodes": 240,
80
+ "train_frames": 94166,
81
+ "train_steps": 50000,
82
+ "batch_size": 64,
83
+ "lr": 5e-05,
84
+ "warmup_steps": 1000,
85
+ "lr_schedule": "cosine decay over all 50000 steps to 5e-6",
86
+ "data_parallel": "pure data parallel (fsdp_devices=1), 2-8 GPUs, global batch 64",
87
+ "norm_stats_file": "norm_stats.json",
88
+ "norm_stats_sha256": "54e87241dfddc4a1ac0b306dbac306ac745ed0e95b6cf0b41d6ce4767f6ace95",
89
+ "norm_stats_note": "quantile stats computed on this suite's frames only; padded dims whose q01==q99 were repaired (padding-aware)",
90
+ "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (12 tasks, 240 episodes, 94166 frames)",
91
+ "task_sources": {
92
+ "FoldShirt-v1": {
93
+ "path": "maniladder/envs/deformable/single_arm_gripper/level_2/fold_shirt.py",
94
+ "sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd",
95
+ "level": "level_2",
96
+ "category": "deformable/single_arm_gripper",
97
+ "cameras": [
98
+ "front_camera",
99
+ "robot_camera",
100
+ null
101
+ ]
102
+ },
103
+ "ScoopWater-v1": {
104
+ "path": "maniladder/envs/deformable/single_arm_gripper/level_2/scoop_water.py",
105
+ "sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167",
106
+ "level": "level_2",
107
+ "category": "deformable/single_arm_gripper",
108
+ "cameras": [
109
+ "front_camera",
110
+ "robot_camera",
111
+ null
112
+ ]
113
+ },
114
+ "StraightenTwoRopesSequential-v1": {
115
+ "path": "maniladder/envs/deformable/single_arm_gripper/level_2/straighten_two_rope.py",
116
+ "sha256": "7c5a2e562811d68514a730933f5d15c132fb007f0c29ce299e8b111a60abb1ab",
117
+ "level": "level_2",
118
+ "category": "deformable/single_arm_gripper",
119
+ "cameras": [
120
+ "front_camera",
121
+ "robot_camera",
122
+ null
123
+ ]
124
+ },
125
+ "ClothWipe-v1": {
126
+ "path": "maniladder/envs/deformable/single_arm_dex/level_2/cloth_wipe.py",
127
+ "sha256": "45ce8bb2815accba3fae96c9411bc24a4c176607691392b121c31c75ebf6d9e4",
128
+ "level": "level_2",
129
+ "category": "deformable/single_arm_dex",
130
+ "cameras": [
131
+ "front_camera",
132
+ "robot_camera",
133
+ null
134
+ ]
135
+ },
136
+ "RollingPin-v1": {
137
+ "path": "maniladder/envs/deformable/single_arm_dex/level_2/rooling_pin.py",
138
+ "sha256": "b8d9b39ad2753b9e8f97b8d9117ba1c1c6c16005d90cbab3c8fa30505b4fb62f",
139
+ "level": "level_2",
140
+ "category": "deformable/single_arm_dex",
141
+ "cameras": [
142
+ "front_camera",
143
+ "robot_camera",
144
+ null
145
+ ]
146
+ },
147
+ "RopeBridgeDex-v1": {
148
+ "path": "maniladder/envs/deformable/single_arm_dex/level_2/rope_bridge.py",
149
+ "sha256": "bdae492d46519fea218838c421eb3217df1dea4ecd0ec2358df099f4dfc2765f",
150
+ "level": "level_2",
151
+ "category": "deformable/single_arm_dex",
152
+ "cameras": [
153
+ "front_camera",
154
+ "robot_camera",
155
+ null
156
+ ]
157
+ },
158
+ "DualArmClothAlign-v1": {
159
+ "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/cloth_align.py",
160
+ "sha256": "9f65e9339bd9b64ab708a1acfbf5780c14c0ab553ef0d83ba4cfe32b5a987748",
161
+ "level": "level_2",
162
+ "category": "deformable/dual_arm_gripper",
163
+ "cameras": [
164
+ "front_camera",
165
+ "robot_camera_0",
166
+ "robot_camera_1"
167
+ ]
168
+ },
169
+ "DualArmPushObject-v1": {
170
+ "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/push_object.py",
171
+ "sha256": "3f0cf62ba9ad3f2b6e93d3808fd68b11a810ed6b7eedea063c922059afbc5ab6",
172
+ "level": "level_2",
173
+ "category": "deformable/dual_arm_gripper",
174
+ "cameras": [
175
+ "front_camera",
176
+ "robot_camera_0",
177
+ "robot_camera_1"
178
+ ]
179
+ },
180
+ "DualArmStraightenRope-v1": {
181
+ "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/straighten_rope_dual.py",
182
+ "sha256": "fae8f4feb83db36e70574f232d3c6faab0d7fbc43a5dac2cb13fd8bc13207314",
183
+ "level": "level_2",
184
+ "category": "deformable/dual_arm_gripper",
185
+ "cameras": [
186
+ "front_camera",
187
+ "robot_camera_0",
188
+ "robot_camera_1"
189
+ ]
190
+ },
191
+ "DualArmPlaceRopeOverRod-v1": {
192
+ "path": "maniladder/envs/deformable/dual_arm_dex/level_2/drape_rope.py",
193
+ "sha256": "670f1e36c3cd79cbce17b8e6a6fd5edd57816b15dcd8aad748be5a669b8fe14c",
194
+ "level": "level_2",
195
+ "category": "deformable/dual_arm_dex",
196
+ "cameras": [
197
+ "front_camera",
198
+ "robot_camera_0",
199
+ "robot_camera_1"
200
+ ]
201
+ },
202
+ "DualArmStuffCloth-v1": {
203
+ "path": "maniladder/envs/deformable/dual_arm_dex/level_2/stuff_cloth.py",
204
+ "sha256": "5b93ca100fb7b035fa07f9c334e1dce162baf7915a1bbf56cae0f1d78f5d56f8",
205
+ "level": "level_2",
206
+ "category": "deformable/dual_arm_dex",
207
+ "cameras": [
208
+ "front_camera",
209
+ "robot_camera_0",
210
+ "robot_camera_1"
211
+ ]
212
+ },
213
+ "DualArmPouringTwoCups-v1": {
214
+ "path": "maniladder/envs/deformable/dual_arm_dex/level_2/water_cup.py",
215
+ "sha256": "4ac7b0bf11eecec6703389831a8711f66875b4dbfedbe6ab8a5faf04ceb9281d",
216
+ "level": "level_2",
217
+ "category": "deformable/dual_arm_dex",
218
+ "cameras": [
219
+ "front_camera",
220
+ "robot_camera_0",
221
+ "robot_camera_1"
222
+ ]
223
+ }
224
+ },
225
+ "eval_episodes": 50,
226
+ "eval_seed_base": 1000,
227
+ "evaluated_steps": [
228
+ 50000
229
+ ],
230
+ "selection": "final checkpoint only (no checkpoint selection)"
231
+ }
multi_task/level2_deformable/norm_stats.json ADDED
@@ -0,0 +1,376 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ 0.0,
6
+ 0.0,
7
+ 0.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 0.0,
62
+ 0.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 0.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0,
88
+ 0.0,
89
+ 0.0,
90
+ 0.0,
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0
95
+ ],
96
+ "q01": [
97
+ 0.0,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.0,
103
+ 0.0,
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 0.0,
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0,
116
+ 0.0,
117
+ 0.0,
118
+ 0.0,
119
+ 0.0,
120
+ 0.0,
121
+ 0.0,
122
+ 0.0,
123
+ 0.0,
124
+ 0.0,
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 0.0,
129
+ 0.0,
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 0.0,
134
+ 0.0,
135
+ 0.0,
136
+ 0.0,
137
+ 0.0,
138
+ 0.0,
139
+ 0.0,
140
+ 0.0
141
+ ],
142
+ "q99": [
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 0.0,
147
+ 0.0,
148
+ 0.0,
149
+ 0.0,
150
+ 0.0,
151
+ 0.0,
152
+ 0.0,
153
+ 0.0,
154
+ 0.0,
155
+ 0.0,
156
+ 0.0,
157
+ 0.0,
158
+ 0.0,
159
+ 0.0,
160
+ 0.0,
161
+ 0.0,
162
+ 0.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 0.0,
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0,
179
+ 0.0,
180
+ 0.0,
181
+ 0.0,
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ 0.0
187
+ ]
188
+ },
189
+ "actions": {
190
+ "mean": [
191
+ 0.0013269251212477684,
192
+ -0.0010167420841753483,
193
+ -0.006871579214930534,
194
+ 0.002251440193504095,
195
+ 0.0000821183348307386,
196
+ -0.0001825987856136635,
197
+ -0.02152448706328869,
198
+ 0.08960748463869095,
199
+ 0.08575636148452759,
200
+ 0.04358629882335663,
201
+ -0.00004178237577434629,
202
+ 0.06242834031581879,
203
+ 0.07320564240217209,
204
+ -0.03259982541203499,
205
+ 0.002032879739999771,
206
+ 0.047316424548625946,
207
+ 0.07990769296884537,
208
+ 0.05248448625206947,
209
+ 0.023005589842796326,
210
+ -0.031872451305389404,
211
+ 0.10320694744586945,
212
+ 0.050701990723609924,
213
+ -0.0008492753840982914,
214
+ 0.0005983017617836595,
215
+ -0.0007291046204045415,
216
+ -0.000936629599891603,
217
+ 0.0003520831814967096,
218
+ -0.0011530725751072168,
219
+ 0.0011414290638640523,
220
+ 0.08363783359527588,
221
+ 0.08739026635885239,
222
+ 0.04650195688009262,
223
+ 0.0027384806890040636,
224
+ 0.06453003734350204,
225
+ 0.08419813960790634,
226
+ 0.057139504700899124,
227
+ 0.0025265805888921022,
228
+ 0.047478001564741135,
229
+ 0.08424048125743866,
230
+ 0.05882285162806511,
231
+ -0.03025839850306511,
232
+ 0.023318108171224594,
233
+ 0.09852747619152069,
234
+ 0.0588659830391407
235
+ ],
236
+ "std": [
237
+ 0.06506874412298203,
238
+ 0.07978043705224991,
239
+ 0.08339080214500427,
240
+ 0.03707493096590042,
241
+ 0.02758833020925522,
242
+ 0.019669050350785255,
243
+ 0.6307249069213867,
244
+ 0.25917360186576843,
245
+ 0.26798275113105774,
246
+ 0.15916167199611664,
247
+ 0.007993180304765701,
248
+ 0.214180126786232,
249
+ 0.25014981627464294,
250
+ 0.44462549686431885,
251
+ 0.01617257483303547,
252
+ 0.17469458281993866,
253
+ 0.2674095332622528,
254
+ 0.1891099214553833,
255
+ 0.12104544788599014,
256
+ 0.13247665762901306,
257
+ 0.2698949873447418,
258
+ 0.16648833453655243,
259
+ 0.05136749520897865,
260
+ 0.04319773614406586,
261
+ 0.054399069398641586,
262
+ 0.00800393708050251,
263
+ 0.02376396767795086,
264
+ 0.012873859144747257,
265
+ 0.0239039808511734,
266
+ 0.2513743042945862,
267
+ 0.28016096353530884,
268
+ 0.15870502591133118,
269
+ 0.013302752748131752,
270
+ 0.2125566601753235,
271
+ 0.2812312841415405,
272
+ 0.1933852732181549,
273
+ 0.011450414545834064,
274
+ 0.16105464100837708,
275
+ 0.2812013030052185,
276
+ 0.19848212599754333,
277
+ 0.13542786240577698,
278
+ 0.11882820725440979,
279
+ 0.2842475473880768,
280
+ 0.182008296251297
281
+ ],
282
+ "q01": [
283
+ -0.30001999489068987,
284
+ -0.30001999489068987,
285
+ -0.30001999489068987,
286
+ -0.15008000223636628,
287
+ -0.12006000477075576,
288
+ -0.07512000298500061,
289
+ -1.0,
290
+ -0.246,
291
+ -0.22999999999999998,
292
+ -0.27159999999999995,
293
+ -0.024977841436862963,
294
+ -0.30479999999999996,
295
+ -0.24359999999999993,
296
+ -1.0,
297
+ -0.0183622043967247,
298
+ -0.33599999999999997,
299
+ -0.24480000000000002,
300
+ -0.28159999999999996,
301
+ -0.1904,
302
+ -0.5568,
303
+ -0.19119999999999993,
304
+ -0.30279999999999996,
305
+ -0.19333999670743943,
306
+ -0.13005999778509142,
307
+ -0.33963999421596525,
308
+ -0.10995905101299286,
309
+ -0.11999999731779099,
310
+ -0.11999999731779099,
311
+ -0.03954988718032837,
312
+ -0.11280000000000001,
313
+ -0.124,
314
+ -0.13359999999999994,
315
+ -0.004831894874572751,
316
+ -0.13839999999999997,
317
+ -0.1452,
318
+ -0.1452,
319
+ -0.0018044939041138575,
320
+ -0.1452,
321
+ -0.1452,
322
+ -0.1452,
323
+ -1.0,
324
+ -0.12519999999999998,
325
+ -0.15559999999999996,
326
+ -0.18279999999999996
327
+ ],
328
+ "q99": [
329
+ 0.23995999591350547,
330
+ 0.23995999591350547,
331
+ 0.29987999489307404,
332
+ 0.19992000297904017,
333
+ 0.11994000476598743,
334
+ 0.07494000297784806,
335
+ 0.9996,
336
+ 0.9996,
337
+ 0.9996,
338
+ 0.5564,
339
+ 0.03766929175853728,
340
+ 0.9996,
341
+ 0.9996,
342
+ 0.9996,
343
+ 0.12938458453416823,
344
+ 0.8532000000000002,
345
+ 0.9996,
346
+ 0.6820000000000002,
347
+ 0.5708,
348
+ 0.12680000000000002,
349
+ 0.9996,
350
+ 0.5980000000000001,
351
+ 0.19207999672889708,
352
+ 0.16967999711036685,
353
+ 0.16981999710798257,
354
+ 0.11999999731779099,
355
+ 0.11995199731886386,
356
+ 0.11999999731779099,
357
+ 0.06689310073852539,
358
+ 0.9996,
359
+ 0.9996,
360
+ 0.5452000000000001,
361
+ 0.057328959941864016,
362
+ 0.7876000000000001,
363
+ 0.9996,
364
+ 0.6876,
365
+ 0.04338243770599359,
366
+ 0.5568000000000002,
367
+ 0.9996,
368
+ 0.6892,
369
+ 0.550000011920929,
370
+ 0.43000000000000016,
371
+ 0.9996,
372
+ 0.6344000000000001
373
+ ]
374
+ }
375
+ }
376
+ }